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A robot finger, self-adaptive technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problem of parallel clamping and grasping effect of difficult ends, and achieve stable and reliable grasping, light weight, low assembly and maintenance costs Effect
Inactive Publication Date: 2018-02-02
TSINGHUA UNIV
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The disadvantages of the underactuated mechanical finger device are: the fingers are always in a straight state before they touch the object, and the grasping method is mainly the gripping method, which makes it difficult to achieve a better end-parallel gripping effect
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[0036] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0037] An embodiment of the four-link flat clip self-adaptive robot finger device designed by the present invention, as Figure 1 to Figure 8 As shown, it includes a base 1, a first finger segment 2, a second finger segment 3, a proximal joint shaft 4, a distal joint shaft 5 and a driver 14; the driver 14 is fixedly connected to the base 1; the proximal joint shaft 4 The centerline of is parallel to the centerline of distal joint axis 5. This embodiment also includes a transmission mechanism, dial 152, first connecting rod 9, second connecting rod 10, third connecting rod 11, first rod shaft 91, second rod shaft 92, bump dial 12, first The spring 13, the second spring 53 and the limit protrusion 18; the proximal joint shaft 4 is movably sleeved in the base 1; the distal joint shaft 5 is movably ...
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Abstract
The invention relates to a finger device of a four-linkage parallel clamping and adaptive robot, which belongs to the technical field of robot hands. The finger device comprises a base, a first finger section, a second finger section, a proximal joint axis, a distal joint axis, a driver, a first connecting rod, a second connecting rod, a third connecting rod, a first rod shaft, a second rod shaft, a bulge driving disk, a thumb wheel, a transmission mechanism, a first spring part, a second spring part and a limiting bulge. According to the device, the finger functions of parallel clamping and adaptive grabbing are comprehensively realized, the second finger section can horizontally move to pinch an object or extend to take the object, or the first finger section and the second finger section are rotated in sequence, so as to adaptively envelop objects of different shapes and sizes; the grabbing range is wide, and the grabbing is stable and reliable; two joints are driven only by one driver, and a complex sensing and control system is not needed; the finger device has the advantages of simple structure, small size, light weight and low processing, assembly and maintenance cost and is suitable for the robot hands.
Description
technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a four-link flat clip self-adaptive robot finger device. Background technique [0002] The adaptive underactuated robot hand uses a small number of motors to drive joints with multiple degrees of freedom. Due to the small number of motors, the motors hidden in the palm can choose larger power and volume, and the output is large. At the same time, the purely mechanical feedback system does not need to be sensitive to the environment. It can achieve stable grasping, automatically adapt to objects of different shapes and sizes, does not require real-time electronic sensing and closed-loop feedback control, and is simple and convenient to control, reducing manufacturing costs. [0003] There are mainly two grasping methods when grasping objects, one is pinching and the other is holding. Pinch is to use the fingertips of the end fingers to gra...
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